相关论文: Dynamical Audio-Visual Navigation: Catching Unhear…

Numerous past works have tackled the problem of task-driven navigation. But, how to effectively explore a new environment to enable a variety of down-stream tasks has received much less attention. In this work, we study how agents can…

Trajectory optimization of sensing robots to actively gather information of targets has received much attention in the past. It is well-known that under the assumption of linear Gaussian target dynamics and sensor models the stochastic…

Active target sensing is the task of discovering and classifying an unknown number of targets in an environment and is critical in search-and-rescue missions. This paper develops a deep reinforcement learning approach to plan informative…

There exists an unequivocal distinction between the sound produced by a static source and that produced by a moving one, especially when the source moves towards or away from the microphone. In this paper, we propose to use this connection…

Learning is an inherently continuous phenomenon. When humans learn a new task there is no explicit distinction between training and inference. As we learn a task, we keep learning about it while performing the task. What we learn and how we…

Explaining the decision of a multi-modal decision-maker requires to determine the evidence from both modalities. Recent advances in XAI provide explanations for models trained on still images. However, when it comes to modeling multiple…

Human speech processing is inherently multimodal, where visual cues (lip movements) help to better understand the speech in noise. Lip-reading driven speech enhancement significantly outperforms benchmark audio-only approaches at low…

Learning how objects sound from video is challenging, since they often heavily overlap in a single audio channel. Current methods for visually-guided audio source separation sidestep the issue by training with artificially mixed video…

Audio-Visual Segmentation (AVS) aims to produce pixel-level masks of sound producing objects in videos, by jointly learning from audio and visual signals. However, real-world environments are inherently dynamic, causing audio and visual…

We present a robot navigation system that uses an imitation learning framework to successfully navigate in complex environments. Our framework takes a pre-built 3D scan of a real environment and trains an agent from pre-generated expert…

We present DM$^3$-Nav, a fully decentralized multi-agent semantic navigation system supporting multimodal open-vocabulary goal specification and multi-object missions. In our setting, decentralization implies operation without a central…

Understanding camera motion is a fundamental problem in embodied perception and 3D scene understanding. While visual methods have advanced rapidly, they often struggle under visually degraded conditions such as motion blur or occlusions. In…

Sight and hearing are two senses that play a vital role in human communication and scene understanding. To mimic human perception ability, audio-visual learning, aimed at developing computational approaches to learn from both audio and…

Humans have the ability to utilize visual cues, such as lip movements and visual scenes, to enhance auditory perception, particularly in noisy environments. However, current Automatic Speech Recognition (ASR) or Audio-Visual Speech…

The recent emergence of Distributed Acoustic Sensing (DAS) technology has facilitated the effective capture of traffic-induced seismic data. The traffic-induced seismic wave is a prominent contributor to urban vibrations and contain crucial…

Model-free reinforcement learning has recently been shown to be effective at learning navigation policies from complex image input. However, these algorithms tend to require large amounts of interaction with the environment, which can be…

3D spatial reasoning in dynamic, audio-visual environments is a cornerstone of human cognition yet remains largely unexplored by existing Audio-Visual Large Language Models (AV-LLMs) and benchmarks, which predominantly focus on static or 2D…

Numerical simulation has become omnipresent in the automotive domain, posing new challenges such as high-dimensional parameter spaces and large as well as incomplete and multi-faceted data. In this design study, we show how interactive…

Unstructured environments are difficult for autonomous driving. This is because various unknown obstacles are lied in drivable space without lanes, and its width and curvature change widely. In such complex environments, searching for a…

Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…